CN106140746B - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
- Publication number
- CN106140746B CN106140746B CN201510484405.1A CN201510484405A CN106140746B CN 106140746 B CN106140746 B CN 106140746B CN 201510484405 A CN201510484405 A CN 201510484405A CN 106140746 B CN106140746 B CN 106140746B
- Authority
- CN
- China
- Prior art keywords
- frame
- main body
- link frame
- pipe
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
Abstract
The present invention provides a pipe cleaning robot, comprising: a device body portion that enters the inside of the duct; a driving module part connected to the device main body part, radially arranged, closely attached to the inside of the duct, and moving the device main body part; a link frame portion that is connected between the device main body portion and the drive module portion and is provided rotatably in the device main body portion and the drive module portion; a pressure driving part which is provided between the device main body part and the link frame part, one side of which is connected to the link frame part and adjusts the deployment angle of the link frame part, and which provides a driving force for closely attaching the driving module part to a pipeline; and a cleaning module part which is installed on the device main body part and removes foreign matters formed in the pipeline.
Description
Technical Field
The present invention relates to a pipe cleaning robot, and more particularly, to a pipe cleaning robot capable of flexibly and effectively cleaning foreign substances formed inside a pipe.
Background
It is important to note that the technical content of this section merely provides background information for the present invention and does not constitute prior art.
In general, pipeline facilities such as water supply and sewerage pipelines, city gas pipelines, facility pipelines, and the like, which transport water, oil, liquefied gas, or the like, may be damaged due to aging or corrosion after installation, or may be blocked due to deposits such as foreign matters stuck inside the pipeline as shown in fig. 1.
Such problems of poor piping and facilities have serious consequences, and particularly, various forms of deposits deposited inside a facility gas piping cause problems such as a decrease in efficiency of gas supply, an acceleration of corrosion inside the piping, and the like, and if they are left alone, there are few production failures due to gas supply, and safety accidents such as leakage due to a broken hole in the piping wall, and the like.
Therefore, a real-time or periodic inspection of a pipeline facility is performed in an industrial site, and a robot inspection system using a robot is also recently used.
In particular, since pipeline equipment used in steel plants is mostly required to be cleaned according to characteristics, the life of the pipeline is shortened due to the acceleration of corrosion of the pipeline due to foreign substances inside the pipeline, and the maintenance cost of the equipment is increased, it is necessary to effectively remove foreign substances inside the pipeline.
However, since there is a problem that only the pipe from which foreign matter can be removed by a straight pipe or a jig operated by a human power is cleaned, not only is the range of pipes suitable for cleaning small, but also the cleaning efficiency is low.
Therefore, there have been many attempts to expand the cleaning range and improve the cleaning efficiency by developing a robot or a device for removing foreign matter directly into the interior of a pipe, but since most of the conventionally developed robots or devices are complicated in system and laborious for operators to operate, it is necessary to reduce the weight of the device.
Disclosure of Invention
Technical problem to be solved
The present invention has been made in view of at least one of the requirements or problems occurring in the conventional pipe cleaning robot as described above.
According to an aspect of the present invention, there is provided a pipe cleaning robot that can be easily adapted to pipes having various pipe diameters.
According to an aspect of the present invention, there is provided a pipe cleaning robot capable of strongly pressing an inner circumferential surface of a pipe to strongly remove foreign substances adhered to the inner circumferential surface of the pipe.
According to one aspect of the present invention, there is provided a pipe cleaning robot capable of strongly removing stuck foreign matter by securing sufficient traction force by reducing the weight of the device.
(II) technical scheme
In order to achieve the above object, the present invention provides a pipe cleaning robot comprising: a device body portion that enters the inside of the duct; a driving module part connected with the device main body part and arranged in a radial shape, clinging to the inside of the pipeline and moving the device main body part; a link frame portion that connects between the device main body portion and the drive module portion and is provided rotatably in the device main body portion and the drive module portion; a pressure driving part which is provided between the device main body part and the link frame part, one side of which is connected to the link frame part and adjusts the deployment angle of the link frame part, and which provides a driving force for closely attaching the driving module part to a pipeline; and a cleaning module part which is installed on the device main body part and removes foreign matters formed in the pipeline.
Preferably, the pressure driving part may include: a hinge frame rotatably provided on the link frame portion; a cylinder rod telescopically coupled to the hinge bracket; and a pressurizing cylinder that adjusts the deployment angle of the link frame portion by extending and contracting the cylinder rod, and that brings the drive module portion into close contact with the inside of the pipe.
Preferably, the device body portion may include: a front frame to which the cleaning module is rotatably attached; a plurality of installation rods fixed to the front frame and extending in a longitudinal direction; and at least one fixing bracket through which the setting rod is provided and in which the link frame portion is rotatably provided.
Preferably, the link frame part may be pivotably provided by the fixing bracket and the hinge shaft, and the link frame part may include an expansion angle measuring sensor that measures an expansion angle of the link frame part by sensing a number of rotations of the hinge shaft.
Preferably, the link frame part is provided with a first link frame and a second link frame which pivotably connect the device main body part and the driving module part, the first link frame is connected to a first pressure driving part of the pressure driving part, thereby adjusting the deployment angle with respect to the device main body part by extension and contraction of the first pressure driving part, and the second link frame is provided spaced apart from the first link frame, and is movable in conjunction with the first link frame, and adjusts the deployment angle with respect to the device main body part.
Preferably, the pressure driving part may include: a first pressure driving member directly connected with a first link frame and adjusting a deployment angle of the first link frame with respect to the device main body portion; and a second pressure driving member directly connected with the second link frame and adjusting a deployment angle of the second link frame with respect to the device main body portion to provide an additional pressure together with the first pressure driving member.
Preferably, the cleaning module part is rotatably mounted on the apparatus main body part and is rotatably mounted on the apparatus main body part in an up-down direction.
Preferably, the washing module part may include: a rotating frame rotatably provided at a front frame of the apparatus main body; a revolving frame which is rotatably mounted on the revolving frame; a cleaning tool which is provided in the revolving frame and removes foreign matter inside the pipe; and a cleaning tool cylinder having one side fixed to the rotary frame and the other side rotatably coupled to the rotary frame, thereby lifting and lowering the rotary frame.
Preferably, the cleaning tool may include a plurality of cleaning tool units having different specifications corresponding to various inner diameter sizes of the pipes, and the cleaning tool units may be selectively installed at the swing frame according to the inner diameters of the pipes.
Preferably, the cleaning tool unit may comprise: a tool body having a cross section corresponding to a cross-sectional shape of an inner peripheral surface of the pipe, the tool body being formed with serrations for scraping off foreign matter stuck on the pipe; and a caster unit provided to the tool body and formed to protrude from the saw teeth so as to guide the movement of the tool body.
Preferably, the driving module part may include: an annular track constructed of an elastomeric material; a side cover disposed at a side of the annular rail and closing an inner space of the annular rail; a track driving motor for driving and rotating the endless track; and a tension adjusting gear for adjusting the tension of the endless track.
Preferably, the driving module unit, the link frame unit, and the pressure driving unit may be connected to each other and provided in plurality in a circumferential direction of the apparatus main body, and may further include a control module unit for individually controlling at least one of the driving module unit and the pressure driving unit.
Preferably, the control module part may individually control the deployment angle of each of the link frame parts with respect to the device main body part by individually controlling the pressure driving part so as to be able to cope with a change in the inner diameter of a pipe.
(III) advantageous effects
According to an embodiment of the present invention, since the present invention can be easily applied to pipes having various pipe diameters, there is an effect of improving the operation efficiency of the pipe cleaning robot.
According to an embodiment of the present invention, the inner circumferential surface of the pipe is strongly pressed, thereby having an effect of strongly removing foreign substances adhered to the inner circumferential surface of the pipe.
According to an embodiment of the present invention, sufficient traction force is secured by reducing the weight of the apparatus, thereby providing an effect of strongly removing the stuck foreign matter.
Drawings
Fig. 1 and 2 are perspective views of the pipe cleaning robot of the present invention.
Fig. 3 is a side view of the pipe cleaning robot of the present invention.
Fig. 4 is a bottom view of the pipe cleaning robot of the present invention.
Fig. 5a and 5b are views showing a state in which the pipe cleaning robot of the present invention is deployed when cleaning a large-diameter pipe.
Fig. 6a and 6b are views showing a state in which the pipe cleaning robot of the present invention is folded when cleaning a small-diameter pipe.
Fig. 7 is a diagram showing in detail the coupling of the device main body portion, the link frame portion, and the direct-coupled hydraulic drive portion, which are constituent members of the present invention.
Fig. 8 is a diagram showing in detail a drive module portion as a constituent member of the present invention.
Fig. 9 is a diagram showing in detail the coupling of the cleaning module unit and the apparatus main body unit, which are constituent members of the present invention.
Fig. 10 is a view showing a turning state of a cleaning module part as a constituent member of the present invention.
Fig. 11 is a view showing a rotation state of a cleaning module part as a constituent member of the present invention.
FIG. 12 is a diagram showing a plurality of cleaning tool units corresponding to a plurality of inner diameter sizes of the conduits.
Reference signs
10: the pipe cleaning robot 100: device body
110: front portion frame 111: fixing frame
113: the camera 115: auxiliary light emitting diode
117: the gas sensor 130: setting rod
150: fixing bracket 151: first fixing bracket
153: second fixing bracket 170: cylinder bracket
190: rear portion frame 200: drive module part
210: the circular track 230: side cover
250: the rail drive motor 270: tension adjusting gear
300: link frame portion 301: first chain link frame
303: second link frame 310: chain link frame component
330: deployment angle measurement sensor 400: pressure driving part
401: first pressure-driving member 403: second pressure driving part
410: the hinge bracket 430: cylinder rod
450: the booster cylinder 500: cleaning module part
510: the rotating frame 530: revolving frame
550: cleaning tool 551: tool body
553: saw teeth 555: caster wheel unit
557: cleaning tool arm 570: cleaning tool cylinder
600: control module part
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiment of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. Furthermore, the embodiments of the present invention are provided to fully explain the present invention to those skilled in the art. In the drawings, the shape, size, and the like of the elements may be exaggerated for clarity.
Hereinafter, a pipe cleaning robot 10 according to an embodiment of the present invention will be described in detail with reference to the drawings.
Referring to fig. 1 to 12, a pipe washing robot 10 according to an embodiment of the present invention may include a device body part 100, a driving module part 200, a link frame part 300, a pressure driving part 400, and a washing module part 500, and may further include a control module part 600.
As shown in fig. 1 and 2, the pipe cleaning robot 10 may include: a device body portion 100 that enters the inside of the duct; a driving module unit 200 connected to the apparatus main body unit 100 and radially disposed, and closely attached to the inside of the duct to move the apparatus main body unit 100; a link frame part 300 which is connected between the device main body part 100 and the driving module part 200 and is rotatably provided in the device main body part 100 and the driving module part 200; a pressure driving part 400 provided between the device main body part 100 and the link frame part 300, having one side connected to the link frame part 300 and adjusting the deployment angle of the link frame part 300, and providing a driving force for closely attaching the driving module part 200 to a pipe; and a cleaning module part 500 which is mounted on the apparatus main body part 100 and removes foreign materials formed inside the duct.
As shown in fig. 1, 4, 5b and 6b, the pipe cleaning robot 10 may be configured in a lever type in which one side of a pressure driving part 400 may be directly connected to the link frame part 300, the link frame part 300 is unfolded in a direction in which the pressure driving part 400 is extended, and the driving module part 200 provided at the link frame part 300 presses the inner circumferential surface of the pipe.
The pressure driving part 400 may have one side directly connected to the link holder part 300 and press the link holder part 300 in an extending direction of the pressure driving part 400.
At this time, the link frame part 300 may be expanded in a direction in which the pressure driving part 400 is expanded by the pressure of the pressure driving part 400, and the driving module part 200 connected to the link frame part 300 and expanded may pressurize the pipe.
Fig. 5a to 6b are views showing a state in which the driving module parts 200 provided at the upper and lower sides among the plurality of driving module parts 200 radially provided at the device main body part 100 are omitted in order to clearly show the unfolded and folded states of the link frame parts 300.
As shown in fig. 5a, when the link holder part 300 is unfolded, it is applicable to a large diameter pipe, and as shown in fig. 5b, when the link holder part 300 is folded, the link holder part 300 is almost closely attached to the apparatus main body part 100 and is applicable to a small diameter pipe.
Therefore, the present invention can be easily applied to pipes having various pipe diameters, and has an effect of improving the equipment operation efficiency of the pipe cleaning robot 10.
As shown in fig. 7, the pressure driving part 400 may include a hinge bracket 410, a cylinder rod 430, and a pressurizing cylinder 450.
The pressure driving part 400 may include: a hinge frame 410 rotatably provided at the link frame part 300; a cylinder rod 430 telescopically coupled to the hinge bracket 410; and a pressurizing cylinder 450 for adjusting the expansion angle of the link holder part 300 by extending and contracting the cylinder rod 430, and closely attaching the driving module part 200 to the inside of the pipe.
As shown in fig. 7, the link frame part 300 may be rotatably provided by the fixing bracket 150 and the hinge shaft, and the link frame part 300 may include an expansion angle measuring sensor 330 for measuring an expansion angle of the link frame part 300 by sensing the number of rotations of the hinge shaft.
The link frame member 310 and the frame fixing part of the fixing bracket 150 may be fixed by a hinge shaft, and the hinge shaft may be provided with a spread angle measuring sensor 330 for measuring a spread angle of the link frame member 310.
At this time, the deployment angle measuring sensor 330 may measure the deployment angle of the link frame member 310 by sensing the number of rotations of the hinge shaft.
The deployment angle of the link frame part 300 may be formed within a range of 10 to 80 degrees with respect to the longitudinal direction of the apparatus main body part 100.
As shown in fig. 1, 2 and 7, the device main body 100 may include a front frame 110, a setting rod 130, a fixing bracket 150, and may further include a cylinder bracket 170 and a rear frame 190.
As shown in fig. 1 and 9, the front frame 110 is provided in front of the apparatus main body 100, and is a portion to which the cleaning module part 500 is rotatably mounted.
The front frame 110 includes a fixing frame 111, and may mount a camera 113, a supplementary light emitting diode 115, a gas sensor 117, and the like.
As shown in fig. 11, even if the rotating frame 510, the revolving frame 530, the cleaning tool 550, and the cleaning tool cylinder 570 rotatably provided in the front frame 110 of the apparatus main body 100 are simultaneously rotated, the fixed frame 111 provided in the rotating frame 510 and fixed to the front frame 110 of the apparatus main body 100 may not be rotated.
At this time, a camera 113 for intuitively controlling the pipe cleaning robot 10 while a worker directly observes the inside of the pipe may be provided. At this time, the camera 113 is not rotated, and may be installed and fixed to the fixed frame 111, and the fixed frame 111 is installed inside the rotating frame 510 and fixed to the front frame 110 of the apparatus main body 100.
As shown in fig. 9, in order to facilitate monitoring by the camera 113, a supplementary light emitting diode 115 may be provided at the front frame 110 of the apparatus main body 100, and a gas sensor 117 for determining the degree of danger of collecting and operating environmental information inside the duct may be provided.
As shown in fig. 7 and 9, the device body portion 100 may include: a front frame 110 to which the cleaning module 500 is rotatably mounted; a plurality of installation bars 130 fixed to the front frame 110 and extending in a longitudinal direction; at least one fixing bracket 150 is provided with the link frame part 300, and the installation rod 130 penetrates therethrough.
The fixing bracket 150 may be formed with a frame fixing portion rotatably provided with the link frame portion 300.
The link frame part 300 may include a pair of link frame members 310, and the fixing bracket 150 may be formed with a pair of frame fixing parts to which the pair of link frame members 310 are rotatably connected.
The link frame member 310 and the frame fixing part may be fixed by a hinge shaft, and the hinge shaft may be provided with a spread angle measuring sensor 330 for measuring a spread angle of the link frame member 310.
At this time, the deployment angle measuring sensor 330 may measure the deployment angle of the link frame member 310 by sensing the number of rotations of the hinge shaft.
As shown in fig. 7, the device main body portion 100 may further include a rear portion frame 190 to which the rear end of the setting lever 130 is fixed.
The fixing bracket 150 may include a first fixing bracket 151 and a second fixing bracket 153, the first fixing bracket 151 may be provided with a first link holder 301, and the second fixing bracket 153 may be provided with a second link holder 303.
The first fixing bracket 151 is penetratingly provided with a setting rod 130 and provided with a first link holder 301, and the second fixing bracket 153 may be penetratingly provided with a setting rod 130 and provided with a second link holder 303.
The apparatus main body 100 may be penetratingly provided with a setting rod 130, and may include a cylinder bracket 170 provided with a pressure driving part 400.
As shown in fig. 5b and 7, the front frame 110, the first fixing bracket 151, the second fixing bracket 153, the cylinder bracket 170, and the rear frame 190 may be inserted into the installation rod 130 at a certain distance.
At this time, as shown in fig. 5b, one side end of the setting lever 130 may be insert-fixed to the front portion frame 110, and the other side end of the setting lever 130 may be insert-fixed to the rear portion frame 190.
As described above, the pipe cleaning robot 10 can secure sufficient traction force by reducing the weight of the apparatus main body portion 100, and has an effect of being able to strongly remove foreign matter stuck thereto.
The link holder part 300 may include a plurality of link holder parts 310 rotatably provided at the apparatus main body part 100 and the driving module part 200, respectively.
The link holder portion 300 may include a first link holder 301 and a second link holder 303.
As shown in fig. 2 to 4, the link holder part 300 may include a first link holder 301 and a second link holder 303 pivotably connecting the device body part 100 and the driving module part 200.
Since the first link holder 301 is connected to the first pressure driving member 401 of the pressure driving part 400, the deployment angle with respect to the device main body part 100 can be adjusted by extending and contracting the first pressure driving member 401, and the second link holder 303 is spaced apart in the length direction of the first link holder 301 and the device main body part 100 and moves in conjunction with the first link holder 301 to adjust the deployment angle with respect to the device main body part 100.
As shown in fig. 3 and 4, the pressure driving part 400 may include a first pressure driving part 401, and may further include a second pressure driving part 403.
The pressure driving part 400 may include a first pressure driving part 401 directly connected to the first link frame 301.
Also, the pressure driving part 400 may include a first pressure driving part 401 directly connected with the first link frame 301; a second pressure driving member 403 directly connected to the second link frame 303 connected to a driving module part 200 formed in a lower side direction of a pipe where the apparatus main body part 100 is advanced and providing an additional pressure together with the first pressure driving member 401.
As shown in fig. 9 to 12, the cleaning module part 500 is rotatably mounted on the apparatus main body part 100 and is rotatably mounted on the apparatus main body part 100 in the up-down direction.
As shown in fig. 9 and 10, the cleaning module part 500 may include a rotating frame 510, a swing frame 530, a cleaning tool 550, a cleaning tool cylinder 570, and may further include a swing sensor (not shown).
The cleaning module part 500 may include: a rotating frame 510 rotatably provided on the front frame 110 of the apparatus main body 100; a swing frame 530 rotatably installed at the swing frame 510; a cleaning tool 550 disposed on the revolving frame 530 for removing foreign materials inside the pipe; and a cleaning tool cylinder 570 having one side fixed to the rotary frame 510 and the other side rotatably coupled to the swing frame 530, thereby elevating and lowering the swing frame 530.
As shown in fig. 11, the cleaning module part 500 is rotatably mounted on the apparatus main body part 100, and the rotating frames 510 of the cleaning module part 500 are connected by a structure that is rotatable with respect to the front frame 110 of the apparatus main body part 100. For this purpose, a motor may be provided at the rear.
Even if the rotary frame 510, the revolving frame 530, the cleaning tool 550, and the cleaning tool cylinder 570 rotatably provided in the front frame 110 of the apparatus main body 100 are simultaneously rotated, the fixed frame 111 provided in the rotary frame 510 and fixed to the front frame 110 of the apparatus main body 100 is not rotated.
The connection portion of the rotating frame 510 and the swing frame 530 rotatably connected may include a swing sensor (not shown) for measuring a swing angle of the swing frame 530.
The rotating frame 510 and the swing frame 530 may be fixed by a hinge shaft, and the hinge shaft may be provided with a swing sensor (not shown) for measuring a swing angle of the swing frame 530.
At this time, the swing sensor (not shown) may measure a swing angle of the swing frame 530 by sensing the number of rotations of the hinge shaft.
At this time, the deployment angle measuring sensor 330 may measure the deployment angle of the link frame part 300 by sensing the number of rotations of the hinge shaft.
As shown in fig. 10, the cleaning module part 500 is installed to be rotatable in the vertical direction, and the rotating frame 530 is connected to be rotatable in the vertical direction based on the rotating frame 510.
The position of the cleaning tool 550 can be adjusted by the cleaning tool cylinder 570 extending and contracting according to the pipe diameter of the pipe, and the cleaning tool 550 can be closely attached to the foreign matter by the driving force of the cleaning tool cylinder 570.
The cleaning tool 550 may be disposed to be closely attached to the foreign matter in a state of being mounted on the swing frame 530, and spaced a minute distance from the inner circumferential surface of the pipe, and the cleaning tool 550 may be moved by driving the driving module part 200, thereby scraping the adhered foreign matter.
As shown in fig. 12, the cleaning tool 550 may include a plurality of cleaning tool units corresponding to various inner diameter sizes of the pipes, and the cleaning tool units may be detachably provided on the swing frame 530.
As shown in fig. 3 and 12, the cleaning tool unit may include a tool body 551 and a caster unit 555.
The cleaning tool unit may include a tool body 551 having a cross-section corresponding to a cross-sectional shape of an inner circumferential surface of the pipe, serrations 553 formed to scrape off foreign substances adhered to the pipe, and a caster unit 555 provided to the tool body 551 and protruded from the serrations 553 to guide the movement of the tool body 551.
A cleaning tool arm 557 of the cleaning tool unit formed to extend from the rear surface of the tool main body 551 may be detachably coupled to the swing frame 530.
The tool body 551 may be formed of a crescent-shaped member having a curvature corresponding to that of the inner circumferential surface of the pipe, and a plurality of serrations 553 may be formed in the inner circumferential surface direction of the pipe.
Since the tool body 551 has a high possibility of being attracted to foreign substances when the size of the tool body 551 is increased with respect to the pipe diameter of the pipe, the tool body 551 may be formed of a teflon plate material in which friction is minimized to prevent attraction of foreign substances.
The caster unit 555 is provided on the tool body 551, and is formed to protrude from the serrations 553, so that the tool body 511 can be guided to move along the inner circumferential surface of the pipe. The removed foreign matter can be easily transferred due to the serrations 553 of the caster unit 555 and the tool main body 551.
In the cleaning tool unit, the rotating frame 510 of the cleaning module part 500 is rotated with respect to the front frame 110 of the apparatus main body part 100 in a state of being in close contact with the foreign matter formed in the pipe, so as to remove the adhered foreign matter.
Further, although not shown, at least one rod-shaped wedge having a tapered tip portion may be formed in front of the tool body 551. The adhered foreign matter can be removed by driving the driving module part 200 to insert the wedge into the foreign matter adhered to the pipe.
In a state where the wedge is inserted into the adhered foreign matter, the adhered foreign matter can be removed by rotating the rotating frame 510 of the cleaning module part 500 with reference to the front frame 110 of the apparatus main body part 100.
The plurality of driving module parts 200 may be disposed in a circumferential direction of the duct so as to face an inner surface of the duct.
As shown in fig. 1 and 2, 4 driving module units 200 are disposed in the circumferential direction of the apparatus main body 100, and at least one pair of driving module units 200 may be disposed to face each other with the apparatus main body 100 as a center.
The pair of driving module parts 200 may be respectively disposed in a direction facing the bottom of the apparatus main body part 100 and a direction facing the upper part of the apparatus main body part 100, and the remaining pair of driving module parts 200 may be respectively disposed in a direction facing both side surfaces of the apparatus main body part 100.
Specifically, a pair of driving module parts 200 may be respectively disposed in a lower direction facing a bottom of the device main body part 100 and an upper direction facing an upper portion of the device main body part 100, and the remaining pair of driving module parts 200 may be respectively disposed in a left side direction and a right side direction facing both side surfaces of the device main body part 100.
More preferably, as shown in fig. 5a and 5b, 4 driving module units 200 may be provided at intervals of 90 degrees in the circumferential direction of the apparatus main body 100.
As described above, since the two pairs of driving module parts 200 are disposed in an opposing manner, the opposing pairs of driving module parts 200 can strongly press the inner circumferential surface of the pipe to move, thereby having an effect of strongly removing foreign substances adhered to the inner circumferential surface of the pipe.
Although not shown, 4 of the driving module units 200 may be disposed in a circumferential direction of the apparatus main body 100, one pair of the driving module units 200 may be disposed opposite to each other with the apparatus main body 100 as a center in a direction facing a bottom of the apparatus main body 100 and in a direction facing an upper portion of the apparatus main body 100, and the remaining pair of the driving module units 200 may be disposed downward in directions facing both side surfaces of the apparatus main body 100.
The device main body portion 100 may support the load of the device main body portion 100 together by the driving module portions 200 disposed in a direction facing the bottom and the driving module portions 200 disposed respectively downward in a direction facing both side surfaces of the device main body portion 100.
As shown in fig. 8, the driving module part 200 may include: an annular track 210 constructed of an elastomeric material; a side cover 230 disposed at a side of the annular rail 210 and closing an inner space of the annular rail 210; a rail driving motor 250 for driving and rotating the endless rail 210; and a tension adjusting gear 270 for adjusting tension of the endless track 210.
The annular rail 210 may be formed with a continuous grip protrusion for increasing a grip force by pressing an inner circumferential surface of the pipe.
The annular rail 210 of the driving module part 200 can secure a clamping force by being closely attached to the inner circumferential surface of the pipe by the pressure driving part 400.
As shown in fig. 1 and 2, the driving module part 200, the link frame part 300, and the pressure driving part 400 may be connected to each other and provided in plurality in a circumferential direction of the apparatus main body part 100, respectively, and may further include a control module part 600 individually controlling at least one side of the plurality of driving module parts 200 and the plurality of pressure driving parts 400.
The control module 600 can correct the posture of the pipe cleaning robot 10 by individually controlling the plurality of driving modules 200 radially arranged on the apparatus main body 100.
Since the driving modules 200 can independently control the speed, when the same driving modules 200 are controlled at the same speed, the pipe cleaning robot can move forward and backward without changing the posture, and the posture can be corrected by controlling the driving modules 200 at different speeds to rotate the pipe cleaning robot 10 to one side.
The control module part 600 can individually control the deployment angle of each of the link frame parts 300 with respect to the device main body part 100 by individually controlling the pressure driving part 400, so as to cope with the change in the inner diameter of the pipe.
That is, the deployment angle of each link holder part 300 with respect to the apparatus main body part 100 may be individually controlled by the control module part 600, thereby controlling the apparatus main body part 100 to be located at the center of the inner surface of the pipeline.
The control module unit 600 may control the plurality of pressure driving units 400 radially disposed in the apparatus main body 100, so that the pipe cleaning robot 10 may be positioned at the center of the inside of the pipe without being affected by foreign substances and the like adhered to the inside of the pipe.
An important reason for centering the pipe cleaning robot 10 inside the pipe is that centering the pipe cleaning robot 10 affects the cleaning efficiency.
Also, the control module part 600 may supply power and pressure to the driving module part 200 and the pressure driving part 400, and may control the pipe cleaning robot 10.
The control module part 600 may include a power supply module supplying power to the pipe cleaning robot 10 and a pressure supply module supplying air pressure or hydraulic pressure to the pressure driving part 400.
First, although the embodiments of the present invention have been described in detail, it is apparent to those skilled in the art that the scope of the claims of the present invention is not limited thereto, and various modifications and variations can be made without departing from the technical spirit of the present invention described in the claims.
Claims (9)
1. A pipe cleaning robot comprising:
a device body portion that enters the inside of the duct;
a driving module part connected to the device main body part and radially arranged, closely attached to the inside of the pipeline, and moving the device main body part;
a link frame portion that connects between the device main body portion and the drive module portion and is provided rotatably in the device main body portion and the drive module portion;
a pressure driving part which is provided between the device main body part and the link frame part, one side of which is connected to the link frame part and adjusts the deployment angle of the link frame part, and which provides a driving force for closely attaching the driving module part to a pipeline; and the number of the first and second groups,
a cleaning module part rotatably and turnably installed in the apparatus main body part in an up-down direction to remove foreign substances formed inside the duct,
the link frame part is unfolded in a direction in which the pressure driving part is extended, the driving module part provided at the link frame part presses an inner circumferential surface of a pipe,
the cleaning module part includes:
a rotating frame rotatably provided at a front frame of the apparatus main body;
a revolving frame rotatably mounted to the revolving frame in an up-down direction;
a cleaning tool which is provided in the revolving frame and removes foreign matter inside the pipe; and the number of the first and second groups,
a cleaning tool cylinder having one side fixed to the rotating frame and the other side rotatably coupled to the rotating frame to lift and lower the rotating frame,
the rotating frame, the swing frame, the cleaning tool, and the cleaning tool cylinder rotatably provided at the front portion frame are rotated together such that the cleaning tool is rotated in a circumferential direction of the pipe,
the cleaning tool is closely attached to the foreign matter by the driving force of the cleaning tool cylinder in a state of being mounted on the revolving frame, and the cleaning tool is moved by driving the driving module part, thereby scraping the adhered foreign matter,
4 of the drive module units are provided at intervals of 90 degrees in the circumferential direction of the device main body,
the link frame portion includes a first link frame and a second link frame that pivotably connect the device main body portion and the drive module portion,
the first link frame is connected to a first pressure driving member of the pressure driving part, and the expansion angle of the first link frame relative to the device main body part is adjusted by the expansion and contraction of the first pressure driving member,
the second link frame is spaced apart from the first link frame, and moves in conjunction with the first link frame and adjusts a deployment angle with respect to the device main body portion,
the pressure driving part includes:
a first pressure driving member directly connected to the first link frame and adjusting a deployment angle of the first link frame with respect to a device main body portion; and
a second pressure driven component directly connected with the second link frame and adjusting a deployment angle of the second link frame relative to the device body portion to provide additional pressure with the first pressure driven component.
2. The pipe washing robot according to claim 1, wherein the pressure driving part includes:
a hinge frame rotatably provided at the link frame portion;
a cylinder rod telescopically coupled to the hinge bracket; and the number of the first and second groups,
and a pressurizing cylinder for adjusting the unfolding angle of the chain link part by extending and contracting the cylinder rod and tightly attaching the driving module part to the inside of the pipeline.
3. The pipe cleaning robot of claim 1,
the device main body portion includes:
a front frame to which the cleaning module is rotatably attached;
a plurality of setting rods fixed on the front frame and extending in the length direction;
at least one fixing bracket, which is provided with the setting rod in a penetrating way and is provided with the chain link part in a rotatable way.
4. The pipe washing robot according to claim 3, wherein the link frame part is rotatably provided by the fixing bracket and a hinge shaft, and the link frame part includes an expansion angle measuring sensor that measures an expansion angle of the link frame part by sensing a number of rotations of the hinge shaft.
5. The pipe cleaning robot according to claim 1, wherein the cleaning tool includes a plurality of cleaning tool units having different specifications corresponding to a plurality of inner diameter sizes of the pipes, the cleaning tool units being selectively installed at the swing frame according to the inner diameters of the pipes.
6. The pipe cleaning robot of claim 5, wherein the cleaning tool unit comprises:
a tool body having a cross section corresponding to the cross-sectional shape of the inner peripheral surface of the pipe, and having serrations formed thereon for scraping off foreign matter adhered to the pipe;
and a caster unit provided at the tool body and formed to protrude from the saw teeth so as to guide the movement of the tool body.
7. The pipe washing robot according to claim 1, wherein the driving module part includes:
an annular track formed of an elastic material;
a side cover disposed at a side of the annular rail and closing an inner space of the annular rail;
a track driving motor for driving and rotating the endless track; and the number of the first and second groups,
and the tension adjusting gear is used for adjusting the tension of the annular track.
8. The pipe washing robot according to claim 1, wherein the driving module portion, the link frame portion, and the pressure driving portion are connected to each other and provided in plurality in a circumferential direction of the apparatus main body portion, respectively, and further comprising a control module portion that individually controls at least one of the plurality of driving module portions and the plurality of pressure driving portions.
9. The pipe washing robot according to claim 8, wherein the control module part individually controls a deployment angle of each of the link frame parts with respect to the device main body part by individually controlling the pressure driving part so as to be able to cope with a change in an inner diameter of a pipe.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150067467A KR101819279B1 (en) | 2015-05-14 | 2015-05-14 | Robot for cleaning of pipe |
| KR10-2015-0067467 | 2015-05-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106140746A CN106140746A (en) | 2016-11-23 |
| CN106140746B true CN106140746B (en) | 2020-01-21 |
Family
ID=57348105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510484405.1A Active CN106140746B (en) | 2015-05-14 | 2015-08-07 | Pipeline cleaning robot |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101819279B1 (en) |
| CN (1) | CN106140746B (en) |
Families Citing this family (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019004798A1 (en) * | 2017-06-29 | 2019-01-03 | 한양대학교 에리카산학협력단 | Working robot |
| KR102083085B1 (en) * | 2017-06-29 | 2020-04-23 | 한양대학교 에리카산학협력단 | Work robot |
| CN107740907B (en) * | 2017-11-15 | 2023-07-25 | 珠海深圳清华大学研究院创新中心 | Pipeline robot detection device and pipeline fault detection method |
| CN107893473B (en) * | 2017-12-05 | 2019-12-06 | 瑞安市斯帝姆教育科技有限公司 | Sewer line cleaning robot |
| CN108167574B (en) * | 2017-12-26 | 2020-05-29 | 上海工程技术大学 | Pipeline cleaning robot system |
| US11702160B2 (en) * | 2017-12-28 | 2023-07-18 | B.G. Negev Technologies and Applications LTD., at Ben-Guiron University | Robot maneuverable by combined sprawl and four-bar extension mechanisms |
| CN109990165B (en) * | 2017-12-29 | 2020-11-20 | 中国核动力研究设计院 | Pipeline robot support arm synchronous driving device with self-adaptive function |
| KR102025829B1 (en) * | 2018-04-24 | 2019-11-04 | (주)일진기술 | An apparatus for removing obstruction in pipeline |
| WO2020035881A1 (en) * | 2018-08-13 | 2020-02-20 | Indian Institute Of Science | A portable and self-powered device and a system for obstacle identification and removal |
| CN108941087A (en) * | 2018-09-19 | 2018-12-07 | 榆林学院 | A kind of packaged type pipe cleaning device |
| KR102178742B1 (en) * | 2018-11-29 | 2020-11-16 | 주식회사 포스코 | An apparatus for controlling a cleaning robot and a control method for the same |
| CN109332311B (en) * | 2018-12-10 | 2024-05-17 | 南京工程学院 | Cleaner for conveying pipe of concrete mixer |
| CN109759399B (en) * | 2019-03-09 | 2024-04-23 | 赵东鸣 | Pipeline cleaning robot |
| CN111216821B (en) * | 2020-02-28 | 2024-07-19 | 广州力多机器人智能科技有限公司 | Wall climbing rust removing robot |
| CN110315561B (en) * | 2019-07-28 | 2020-02-21 | 南京驭逡通信科技有限公司 | Manipulator clamp for pipeline plugging robot |
| CN110665914B (en) * | 2019-09-24 | 2021-07-16 | 李雪莲 | Pipeline cleaner for oil extraction worker |
| CN110539810A (en) * | 2019-09-26 | 2019-12-06 | 成都理工大学 | Marine organism clearing device for diversion culvert of nuclear power station |
| KR102091983B1 (en) * | 2019-11-27 | 2020-03-20 | 송용민 | Inside pipe robot |
| CN110935700A (en) * | 2019-11-28 | 2020-03-31 | 中煤科工集团重庆研究院有限公司 | Fixed distance dust absorption pole subassembly |
| CN111360003B (en) * | 2020-03-25 | 2021-06-01 | 上海隧道工程股份有限公司 | Rolling crushing device for pipeline lining and using method thereof |
| CN111533343B (en) * | 2020-05-12 | 2021-01-01 | 上海市政工程设计研究总院（集团）有限公司 | Telescopic arm type water purifying and dredging device |
| CN112031147B (en) * | 2020-09-09 | 2022-02-11 | 刘亚明 | Municipal pipeline dredging device with adjustable working diameter and implementation method |
| CN112095773A (en) * | 2020-09-30 | 2020-12-18 | 象山泛海环保科技有限责任公司 | Sewage pipes rubbish clean-up equipment |
| CN113030246B (en) * | 2020-12-14 | 2024-04-09 | 陕西泰诺特检测技术有限公司 | Magnetic leakage detector for outer wall of pipeline |
| CN116159824A (en) * | 2022-12-02 | 2023-05-26 | 三峡大学 | Automatic cleaning device and method for boiler pipeline dirt |
| CN116357900B (en) * | 2023-03-07 | 2023-11-10 | 张家港宏昌钢板有限公司 | Dust removal flue blocks up leak detector |
| CN116408320A (en) * | 2023-06-12 | 2023-07-11 | 青建集团股份公司 | Cleaning device for inner wall of building construction pipeline |
| CN117259368A (en) * | 2023-11-20 | 2023-12-22 | 临沂大将军建陶有限公司 | Ceramic glaze dust removal cleaning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5838752A (en) * | 1996-02-20 | 1998-11-17 | Kabushiki Kaisha Toshiba | Apparatus and method for carrying out workings at reactor bottom |
| JP2012086133A (en) * | 2010-10-19 | 2012-05-10 | Bridgestone Corp | Device for cleaning inside duct |
| KR20130000243A (en) * | 2011-06-22 | 2013-01-02 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| KR20130050847A (en) * | 2011-11-08 | 2013-05-16 | 주식회사 로봇스토리 | Pipe internal cleaning device |
| EP2752252A1 (en) * | 2013-01-04 | 2014-07-09 | Gaus Co., Ltd. | Pipe cleaning robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101338970B1 (en) | 2013-06-19 | 2013-12-10 | 수자원기술 주식회사 | Rust and coating removing system by using vehicle and induction coil of inside of large size pipe |
-
2015
- 2015-05-14 KR KR1020150067467A patent/KR101819279B1/en active IP Right Grant
- 2015-08-07 CN CN201510484405.1A patent/CN106140746B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5838752A (en) * | 1996-02-20 | 1998-11-17 | Kabushiki Kaisha Toshiba | Apparatus and method for carrying out workings at reactor bottom |
| JP2012086133A (en) * | 2010-10-19 | 2012-05-10 | Bridgestone Corp | Device for cleaning inside duct |
| KR20130000243A (en) * | 2011-06-22 | 2013-01-02 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| KR20130050847A (en) * | 2011-11-08 | 2013-05-16 | 주식회사 로봇스토리 | Pipe internal cleaning device |
| EP2752252A1 (en) * | 2013-01-04 | 2014-07-09 | Gaus Co., Ltd. | Pipe cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20160134999A (en) | 2016-11-24 |
| CN106140746A (en) | 2016-11-23 |
| KR101819279B1 (en) | 2018-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106140746B (en) | Pipeline cleaning robot | |
| KR101494644B1 (en) | Inspecting robot for regenerating superannuated pipes | |
| CN109201661B (en) | Automatic pipeline cleaning equipment and automatic pipeline processing method | |
| KR100934806B1 (en) | Piping work robot with improved driving performance and central integrity | |
| KR100494675B1 (en) | for inspection and repair of drain-pipe operation robot | |
| KR101291120B1 (en) | Maintenance robot for wind power generator | |
| CN112963661B (en) | Intelligent detection device based on automation | |
| KR101859633B1 (en) | Apparatus and method for repairing pipe conduit | |
| CN103909080A (en) | Pipe cleaning robot | |
| KR20130000088A (en) | Robot for pipeline work having improved running capability and integrated centering capability | |
| CN104259158A (en) | Multifunctional pipeline robot | |
| JP2024027130A (en) | Device for performing operation on structure | |
| KR101907405B1 (en) | An Apparatus for Repairing a Underground Pipe and a Method for Repairing the Same | |
| KR20170037908A (en) | An Apparatus for Repairing a Underground Pipe and a Method for Repairing the Same | |
| CN113804697B (en) | Mobile monitoring system for mining area pipeline construction | |
| CN108043793B (en) | Device for efficiently cleaning titanium roller, mounting method and using method thereof | |
| KR101469016B1 (en) | Driving robot with dual height control ability for regenerating superannuated pipes | |
| KR100646802B1 (en) | Height controlable packer for repairing a sewage pipe | |
| KR20170127161A (en) | A Robot Apparatus for Repairing a Underground Pipe and A System for Repairing a Underground with the Same | |
| KR101475824B1 (en) | Non Excavation Renovation Method using Inspecting robot for Regenerating a Superannuated Pipe | |
| CN109282108A (en) | A kind of carrier robot for pipe detection | |
| KR200303672Y1 (en) | for inspection and repair of drain-pipe operation robot | |
| JP2938777B2 (en) | Pipeline inspection work vehicle | |
| JP5227921B2 (en) | Vehicle washing apparatus and vehicle washing method using the same | |
| CN210742193U (en) | Visual inspection platform for detecting internal defects of pipeline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200806 Address after: Han Guoqingshangbeidao Patentee after: KOREA INSTITUTE OF ROBOT AND CONVERGENCE Address before: Han Guoqingshangbeidao Co-patentee before: KOREA INSTITUTE OF ROBOT AND CONVERGENCE Patentee before: POSCO |
|
| TR01 | Transfer of patent right |